- <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
- <remap from="imu_data" to="imu"/>
- <remap from="vo" to="odom_gps"/>
- <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
- <param name="output_frame" value="odom"/>
- <param name="freq" value="20.0"/>
- <param name="vo_used" value="true"/>
- <param name="debug" value="true"/>
- <param name="sensor_timeout" value="2.0"/>
+ <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+ <param name="magnetic_declination_radians" value="0.047"/>
+ <param name="yaw_offset" value="0.0"/>
+ <param name="zero_altitude" value="true"/>
+ <param name="broadcast_utm_transform" value="true"/>
+
+ <remap from="/imu/data" to="imu"/>
+ <remap from="/gps/fix" to="fix" />
+ <remap from="/odometry/filtered" to="odom_combined"/>
+ <remap from="/odometry/gps" to="gps"/>